High-stability large-span transplanting device

Abstract

The present application relates to battery pack transplanting equipment technical field, especially in high stability large span transplanting device, including along the first sliding rail movement transplanting mechanism body, transplanting mechanism body is equipped with along the second sliding rail movement second base plate, second base plate is provided with rotating drive assembly, rotating frame assembly and rigidity enhancement frame assembly in its side part; The fixed plate at the top of the rigidity enhancement frame is rotatably supported on the rotating frame assembly by the bearing and the shaft; At least two liftable transplanting arms are arranged on the rotating frame assembly, the transplanting arm adopts fixed cantilever, telescopic cantilever and bottom plug-in plate to lift the battery pack, and a pressing arm and a self-adaptable pressing block are arranged. The device forms multidirectional position adjustment and rotary positioning, and reduces the inclination and deformation under large-span cantilever working condition through the top auxiliary support of the rotating frame and lateral rigidity enhancement, improves the transplanting stability and safety.

Description

[Technical Field] This invention relates to the field of battery pack transplanting equipment technology, and particularly to a highly stable, long-span transplanting device. [Background Technology] As the size and weight of power battery packs increase, the assembly, testing, buffering, and inter-station transfer of battery packs typically require the use of transfer equipment with horizontal movement, lifting, and attitude adjustment capabilities. For lateral placement or large-span cantilever operations, where the load-bearing end is far from the main body of the equipment, the battery pack load can create significant bending moments and overturning tendencies in the supporting structure. When the bending stiffness of the support chain is insufficient, or when the rotating components are supported only on one side or at a single point, problems such as deflection of the rotating frame, sinking of the cantilever end, increased positioning errors, and even tilting of the entire machine can easily occur. [Summary of the Invention] To overcome the above problems, this invention proposes a highly stable, large-span transplanting device that can effectively solve these problems.

[0004] The present invention provides a technical solution to solve the above-mentioned technical problems by providing a high-stability, large-span transplanting device, comprising two parallel first slide rails and a transplanting mechanism body slidably connected to the first slide rails. The transplanting mechanism body includes a first base plate, a second base plate, a rotation drive assembly, a rotation frame assembly, a stiffness-enhancing frame assembly, and at least two transplanting arms. The first base plate is provided with the second slide rail, and the second base plate is slidably connected to the second slide rail via a slider. The rotation drive assembly is disposed on the second base plate and connected to the rotation frame assembly to drive the rotation frame assembly to rotate. The stiffness-enhancing frame assembly is disposed on the second base plate and located on the side of the rotation frame assembly. A fixing plate is connected to the top of the stiffness-enhancing frame assembly, and the fixing plate is rotatably connected to the top of the rotation frame assembly via a bearing and a rotating shaft, so that the top of the rotation frame assembly forms an auxiliary rotational support. The rotation frame assembly is provided with a third slide rail, and at least two transplanting arms are vertically and vertically connected to the third slide rail via sliders for carrying a battery pack.

[0005] Preferably, the second slide rail is perpendicular to the first slide rail; the rotation center axis of the rotating frame assembly is perpendicular to both the first and second slide rails; the third slide rail is perpendicular to both the first and second slide rails and parallel to the rotation center axis of the rotating frame assembly.

[0006] Preferably, the transplanting mechanism body further includes a first drive motor, the output shaft of which is connected to a main drive gear; a main drive rack is provided in the extending direction of the first slide rail, the main drive rack meshing with the main drive gear, so that the first drive motor drives the transplanting mechanism body to move along the first slide rail.

[0007] Preferably, a second drive motor is provided on the first substrate, and the second drive motor is connected to the second substrate through a lead screw transmission pair to drive the second substrate to move along the second slide rail.

[0008] Preferably, the rotating frame assembly is provided with a third drive motor, which is connected to the transplanting arm via a lead screw drive pair to drive the transplanting arm to move up and down along the third slide rail.

[0009] Preferably, the transplanting arm includes an arm base plate, which is connected to the third slide rail via a slider; two cantilever frames are arranged parallel to each other on the arm base plate, and each cantilever frame is provided with a fixed cantilever and a telescopic cantilever that can move along the axial direction of the cantilever frame.

[0010] Preferably, the telescopic cantilever is connected to a drive cylinder, which is used to drive the telescopic cantilever to reciprocate along the axial direction of the cantilever frame.

[0011] Preferably, both the fixed cantilever and the telescopic cantilever are connected to insert plates at their bottoms. The axial movement of the telescopic cantilever is used to adjust the distance between the corresponding fixed cantilever and the insert plate at the bottom of the telescopic cantilever, so that the insert plate can enter below the bottom of the battery pack in the open state, and lift the battery pack from the bottom of the battery pack after the distance is reduced.

[0012] Preferably, at least one of the cantilever frames is provided with a pressing arm, and the side of the cantilever frame is provided with a vertical slide rail. The pressing arm is connected to the vertical slide rail via a slider and is driven to rise and fall by a cylinder to press the battery pack down from above.

[0013] Preferably, the end of the pressing arm is hinged with a pressing block, which can rotate around the hinge to adaptively adjust the fitting angle when pressing a battery pack with an inclined surface or with posture deviation.

[0014] Preferably, a detection bracket is connected to the arm base plate, and a detection component is provided on the detection bracket. The detection component is used to monitor the status of the battery pack during the picking, placing and transplanting process.

[0015] Preferably, the detection component moves up and down synchronously with the arm base plate and is positioned toward the battery pack carrying area formed by the insert plate, so as to detect whether the battery pack is in a predetermined carrying state.

[0016] Compared with the prior art, the high-stability, large-span transplanting device of the present invention has the following beneficial effects: 1. The rotating frame assembly and the side stiffness-enhancing frame assembly form a composite support system, and the top of the rotating frame obtains auxiliary rotational support through bearings and shafts, which improves the bending and tilting resistance under large-span cantilever conditions while maintaining the rotational function. 2. The first slide rail, the second slide rail, the third slide rail, and the rotational motion form a multi-directional composite adjustment, which can improve the adaptability of the docking position and reduce the additional lateral load caused by misalignment; 3. Each transplanting arm uses a pair of cantilever frames, fixed cantilever, telescopic cantilever and bottom plate to form a stable support, which can adapt to the bottom space of the battery pack; 4. The downward pressing arm and the rotatable downward pressing block provide upper constraint to the battery pack and adapt to the local slope, reducing the risk of falling off during the transplanting process; 5. The detection component moves with the transplanting arm, which can monitor the picking and placing status, thus improving the safety of equipment operation. [Attached Image Description] Figure 1 This is a first perspective view of the high-stability, large-span transplanting device of the present invention; Figure 2 This is a second perspective view of the high-stability, large-span transplanting device of the present invention; Figure 3 This is a first perspective view of the transplanting mechanism body of the high-stability, large-span transplanting device of the present invention; Figure 4 This is a second perspective view of the transplanting mechanism body of the high-stability, large-span transplanting device of the present invention; Figure 5 This is a third perspective view of the transplanting mechanism body of the high-stability, large-span transplanting device of the present invention; Figure 6 This is a first perspective view of the transplanting arm of the high-stability, large-span transplanting device of the present invention; Figure 7 This is a second perspective view of the transplanting arm of the high-stability, large-span transplanting device of the present invention.

Detailed Implementation Methods

[0019] It should be noted that in the embodiments of the present invention, all directional indications (such as up, down, left, right, front, back, etc.) are limited to relative positions on the specified view, rather than absolute positions.

[0020] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0021] Please see Figures 1 to 7 The high-stability, long-span transplanting device of this embodiment includes a transplanting mechanism body 100, two parallel first slide rails 200, and a main drive rack 300 parallel to the first slide rails 200. The transplanting mechanism body 100 is slidably connected to the two first slide rails 200 via a slider. The transplanting mechanism body 100 includes a first drive motor 110, the output shaft of which is connected to a main drive gear 111, which meshes with the main drive rack 300. When the first drive motor 110 drives the main drive gear 111 to rotate, the main drive gear 111 moves along the main drive rack 300, thereby driving the transplanting mechanism body 100 to move along the first slide rails 200. By using two parallel first slide rails 200 to guide the transplanting mechanism body 100, the transplanting mechanism body 100 can maintain a stable linear movement foundation when subjected to lateral loads from the battery pack.

[0022] The transplanting mechanism body 100 includes a first base plate 120. A second slide rail 121 is disposed on the first base plate 120, and a second base plate 130 is slidably connected to the second slide rail 121 via a slider. A second drive motor 122 is disposed on the first base plate 120, and the second drive motor 122 is connected to the second base plate 130 via a lead screw drive pair. When the second drive motor 122 is running, it pushes the second base plate 130 to move along the second slide rail 121 via the lead screw drive pair. The second slide rail 121 is perpendicular to the first slide rail 200, so the moving direction of the second base plate 130 is independent of the moving direction of the transplanting mechanism body 100 along the first slide rail 200, which can be used for lateral compensation and fine alignment of the battery pack placement and removal position.

[0023] A rotary drive assembly 131 is disposed on the second substrate 130. The rotary drive assembly 131 is connected to the rotary frame assembly 140 and is used to drive the rotary frame assembly 140 to rotate around the rotation center axis. The rotary drive assembly 131 may be in the form of a combination of a servo motor and a reduction transmission mechanism, or it may be other mechanical drive structures capable of providing controlled rotation output. The rotation center axis of the rotary frame assembly 140 is perpendicular to both the first slide rail 200 and the second slide rail 121.

[0024] A stiffness-enhancing frame assembly 132 is also provided on the second substrate 130. The stiffness-enhancing frame assembly 132 is located on the side of the rotating frame assembly 140, with its lower part forming a stable connection with the second substrate 130 and its top part connected to a fixing plate 133. The fixing plate 133 is rotatably connected to the top of the rotating frame assembly 140 via bearings and a rotating shaft. Thus, the lower part of the rotating frame assembly 140 is driven and supported by the rotation drive assembly 131, while the top part receives auxiliary support at the fixing plate 133, allowing relative rotation. This auxiliary support does not restrict the rotation of the rotating frame assembly 140 about the rotation center axis, but it can provide radial constraint to the top of the rotating frame assembly 140 when the rotating frame assembly 140 is subjected to lateral bending moments generated by the transplanting arm 150 and the battery pack, and transmit the corresponding reaction force to the second substrate 130 through the stiffness-enhancing frame assembly 132, thereby reducing the lateral deformation of the rotating frame assembly 140 within its free height range.

[0025] The rotating frame assembly 140 adopts a frame structure. Compared to a single plate-shaped load-bearing component, the frame structure can form a more reasonable cross-sectional height and multiple connection paths within a similar installation space, which is beneficial to improving axial and lateral bending resistance. The stiffness-enhancing frame assembly 132 and the rotating frame assembly 140 are arranged side by side, and the two form a cooperative force-bearing relationship through the rotational support at the top fixed plate 133, so that the large-span cantilever load is no longer borne by a single position at the bottom of the rotating frame assembly 140. This load transfer relationship is the main structural basis for improving the stability of large-span transplanting in this embodiment.

[0026] A third slide rail 141 is provided on the outer side of the rotating frame assembly 140, and the transplanting arm 150 is slidably connected to the third slide rail 141 via a slider. A third drive motor 142 is provided on the rotating frame assembly 140, and the third drive motor 142 is connected to the transplanting arm 150 via a lead screw drive pair, used to drive the transplanting arm 150 to move up and down along the third slide rail 141. The third slide rail 141 is perpendicular to both the first slide rail 200 and the second slide rail 121, and parallel to the rotation center axis of the rotating frame assembly 140. Through overall movement in the direction of the first slide rail 200, lateral movement in the direction of the second slide rail 121, raising and lowering in the direction of the third slide rail 141, and rotation of the rotating frame assembly 140, the position and attitude adjustment of the transplanting arm 150 relative to the battery pack can be completed in multiple degrees of freedom.

[0027] In this embodiment, at least two liftable transfer arms 150 are provided on the rotating frame assembly 140. In the illustrated embodiment, multiple transfer arms 150 are arranged at intervals along the extension direction of the third slide rail 141. Each transfer arm 150 cooperates with the third slide rail 141 through a corresponding arm base plate 151, enabling the transfer arm 150 to be lifted and lowered for loading and unloading under the stable support of the rotating frame assembly 140. The number of transfer arms 150 can be selected as two or more depending on the production cycle, battery pack specifications, and workstation layout.

[0028] The transplanting arm 150 includes an arm base plate 151, which is connected to a third slide rail 141 via a slider. Two cantilever frames 152 are arranged parallel to each other on the arm base plate 151. Each cantilever frame 152 has a fixed cantilever 153 and a telescopic cantilever 154. The telescopic cantilever 154 is connected to a drive cylinder, which controls the telescopic cantilever 154 to reciprocate axially along the cantilever frame 152. The two cantilever frames 152 are arranged parallel to each other, allowing the battery pack load to be supported at different lateral positions on the arm base plate 151, avoiding load concentration on a single slender member.

[0029] Both the fixed cantilever 153 and the telescopic cantilever 154 have insert plates 155 connected to their bottoms. Before removing the battery pack, a drive cylinder moves the telescopic cantilever 154 to the open position, creating a gap between the corresponding insert plates 155 that allows them to pass over or avoid the bottom structure of the battery pack. After the transplanting arm 150 moves to the battery pack removal / placement position, the insert plates 155 enter the area below the bottom of the battery pack. Then, the telescopic cantilever 154 is driven to move in the opposite direction, reducing the distance between the insert plates 155 and supporting them on the bottom of the battery pack, thereby lifting the battery pack. By cooperating with the fixed cantilever 153 and the telescopic cantilever 154, the removal / placement width can be adjusted while maintaining the main rigidity of the cantilever frame 152.

[0030] A pressing arm 156 is provided on the cantilever frame 152. The pressing arm 156 is guided by a vertical slide rail and a slider located on the side of the cantilever frame 152 and is driven to rise and fall by a cylinder. After the insert plate 155 has formed a support from the bottom of the battery pack, the pressing arm 156 descends and applies a constraint from above the battery pack, so that the battery pack is confined between the insert plate 155 and the pressing arm 156, reducing the risk of the battery pack moving or falling off relative to the transplanting arm 150 during transplanting acceleration, deceleration, rotation, or fine-tuning.

[0031] The end of the pressing arm 156 is hinged to a pressing block 157, which can rotate around the hinge. If there is a slope, local angle change, or small-range posture error on the upper surface of the battery pack, the pressing block 157 can rotate under the action of contact reaction force after contacting the battery pack, so that its contact surface adaptively fits the surface of the battery pack, without requiring the pressing arm 156 to change its overall direction, which is beneficial to obtaining a stable pressing state.

[0032] A detection bracket is connected to the arm base plate 151, and a detection component 158 ​​is mounted on the detection bracket. Since the detection component 158 ​​is fixed to the structure that moves with the transfer arm 150, its detection reference remains stable relative to the insertion plate 155, the fixed cantilever 153, and the telescopic cantilever 154. The detection component 158 ​​can be used to determine whether the battery pack has entered the predetermined bearing area, whether the lifting is complete, or whether abnormal displacement has occurred during the transfer process. The specific detection principle of the detection component 158 ​​can be one or a combination of conventional industrial detection methods such as photoelectric, proximity, distance, or vision, depending on the equipment site conditions; this selection does not change the structural relationship of the detection component 158, which is set with the transfer arm 150 and serves to monitor the safety of pick-up and drop-off.

[0033] The typical pick-and-place process in this embodiment is as follows: First, the first drive motor 110 drives the transplanting mechanism body 100 to move along the first slide rail 200 to the vicinity of the target workstation; then, the second drive motor 122 drives the second substrate 130 to be laterally aligned along the second slide rail 121, and the rotation drive assembly 131 drives the rotation frame assembly 140 to rotate to the corresponding angle according to the battery pack posture; the third drive motor 142 drives the target transplanting arm 150 to rise and fall along the third slide rail 141 to the pick-and-place height. After that, the telescopic cantilever 154 opens, allowing the insert plate 155 to enter below the bottom of the battery pack, and then the telescopic cantilever 154 moves back to reduce the gap between the insert plates 155 and support the battery pack; the pressing arm 156 descends, and the pressing block 157 adaptively fits and presses the battery pack. After the detection assembly 158 confirms that the battery pack is in the predetermined bearing state, the transplanting arm 150 rises and sequentially performs rotation, lateral movement, and overall movement along the first slide rail 200 according to the target workstation position. Once the battery pack reaches the placement position, release the pressing arm 156, open the insert plate 155, and exit in the reverse order to complete the battery pack relocation.

[0034] In the above process, the cantilever load formed by the battery pack is sequentially transferred to the rotating frame assembly 140 via the insert plate 155, fixed cantilever 153 and telescopic cantilever 154, cantilever frame 152, and arm base plate 151. In addition to being connected to the rotation drive assembly 131 at its lower part, the rotating frame assembly 140 is also supported at its top by the stiffness-enhancing frame assembly 132 via the fixed plate 133, bearings, and a rotating shaft. Therefore, the load can be further transferred to the second base plate 130, the first base plate 120, and the first slide rail 200 via the stiffness-enhancing frame assembly 132. This closed and layered load transfer path can reduce the concentrated bending effect caused by large-span cantilever loads on a single support position of the rotating frame assembly 140.

[0035] This invention does not limit the specific brand, power rating, or control protocol of the first drive motor 110, the second drive motor 122, the third drive motor 142, and the rotary drive assembly 131, as long as they can achieve the linear movement, lifting, and rotation functions. The lead screw drive pair, gear and rack drive, slide rail slider, and bearing shaft can all be industrial standard components that match the equipment load and precision level. The specific selection of the above-mentioned conventional components falls within the engineering design that can be completed by those skilled in the art based on the battery pack weight, stroke, and cycle time requirements.

[0036] The above embodiments have described the structure, connection relationship, working process, and technical effects of the present invention. Without changing the basic technical concept of the top auxiliary rotating support of the rotating frame assembly, the side stiffness enhancement, and the bottom lifting and upper pressing of the transplanting arm, those skilled in the art can make adaptive adjustments to the specific specifications of the driving components, the number of transplanting arms, and the type of detection elements; such adjustments can all be considered specific embodiments of the present invention.

[0037] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any modifications, equivalent substitutions and improvements made within the concept of the present invention should be included within the patent protection scope of the present invention.

Claims

1. A highly stable, long-span transplanting device, characterized in that, The invention includes two parallel first slide rails and a transplanting mechanism body slidably connected to the first slide rails. The transplanting mechanism body includes a first base plate, a second base plate, a rotary drive assembly, a rotary frame assembly, a stiffness-enhancing frame assembly, and at least two transplanting arms. The first substrate is provided with a second slide rail, and the second substrate is slidably connected to the second slide rail by a slider; The rotation drive assembly is disposed on the second substrate and connected to the rotation frame assembly to drive the rotation frame assembly to rotate; The stiffness-enhancing frame assembly is disposed on the second base plate and located on the side of the rotating frame assembly. A fixing plate is connected to the top of the stiffness-enhancing frame assembly. The fixing plate is rotatably connected to the top of the rotating frame assembly through a bearing and a rotating shaft, so that the top of the rotating frame assembly forms an auxiliary rotational support. The rotating frame assembly is provided with a third slide rail, and at least two of the transplanting arms are vertically and vertically connected to the third slide rail via sliders for carrying the battery pack.

2. The high-stability, large-span transplanting device according to claim 1, characterized in that, The second slide rail is perpendicular to the first slide rail; the rotation center axis of the rotating frame assembly is perpendicular to both the first and second slide rails; the third slide rail is perpendicular to both the first and second slide rails and parallel to the rotation center axis of the rotating frame assembly.

3. The high-stability, large-span transplanting device according to claim 1, characterized in that, The transplanting mechanism body also includes a first drive motor, the output shaft of which is connected to a main drive gear; a main drive rack is provided in the extension direction of the first slide rail, and the main drive rack meshes with the main drive gear so that the first drive motor drives the transplanting mechanism body to move along the first slide rail.

4. The high-stability, large-span transplanting device according to claim 1, characterized in that, A second drive motor is provided on the first substrate. The second drive motor is connected to the second substrate through a lead screw transmission pair to drive the second substrate to move along the second slide rail.

5. The high-stability, large-span transplanting device according to claim 1, characterized in that, The rotating frame assembly is equipped with a third drive motor, which is connected to the transplanting arm via a lead screw drive pair to drive the transplanting arm to move up and down along the third slide rail.

6. The high-stability, large-span transplanting device according to claim 1, characterized in that, The transplanting arm includes an arm base plate, which is connected to the third slide rail via a slider; two cantilever frames are arranged parallel to each other on the arm base plate, and each cantilever frame is provided with a fixed cantilever and a telescopic cantilever that can move along the axial direction of the cantilever frame.

7. The high-stability, large-span transplanting device according to claim 6, characterized in that, The telescopic cantilever is connected to a drive cylinder, which is used to drive the telescopic cantilever to reciprocate along the axial direction of the cantilever frame.

8. The high-stability, large-span transplanting device according to claim 7, characterized in that, Both the fixed cantilever and the telescopic cantilever are connected to insert plates at their bottoms. The axial movement of the telescopic cantilever is used to adjust the distance between the corresponding fixed cantilever and the insert plate at the bottom of the telescopic cantilever, so that the insert plate can enter below the bottom of the battery pack in the open state, and lift the battery pack from the bottom of the battery pack after the distance is reduced.

9. The high-stability, large-span transplanting device according to claim 6, characterized in that, At least one of the cantilever frames is provided with a pressing arm, and the side of the cantilever frame is provided with a vertical slide rail. The pressing arm is connected to the vertical slide rail via a slider and is driven to rise and fall by a cylinder to press the battery pack down from above.

10. The high-stability, large-span transplanting device according to claim 9, characterized in that, The end of the pressing arm is hinged to a pressing block, which can rotate around the hinge to adaptively adjust the fitting angle when pressing a battery pack with an inclined surface or with posture deviation.

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